/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  * 这个工程目前设置了tim3作为pwm输出，tim1作为编码器;开启了tim1,tim2数据溢出中断;PA8,9作为编码器AB相引脚，PA6作为pwm信号引脚
  * usart1:RX----PB7, TX----PB6
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "pid.h"
#include <string.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint16_t pwm_value = 0;
uint32_t total_count = 0;
PID_Controller motor_pid;
uint8_t PID_State = 1;
uint32_t start_time = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

//获取角度
int32_t get_motor_angle(void)
{
  int32_t current_count = __HAL_TIM_GetCounter(&htim1);
  int32_t encorder_value = 0;
  __disable_irq();
  encorder_value = total_count + current_count;
  __enable_irq();
  
  float angle = encorder_value/1320.0f*360.0f;
  return angle;
}


//电机速度
void set_speed(int16_t pwm_value)
{
  if(pwm_value >= 999)
  {
    pwm_value = 999;
  }
  
  if(pwm_value <= -999)
  {
    pwm_value = -999;
  }
  
  if(pwm_value >= 0)
  {
    HAL_GPIO_WritePin(GPIOA,GPIO_PIN_8,GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOA,GPIO_PIN_9,GPIO_PIN_SET);
    __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,pwm_value);
  }else
  {
    HAL_GPIO_WritePin(GPIOA,GPIO_PIN_9,GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOA,GPIO_PIN_8,GPIO_PIN_SET);
    __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,-pwm_value);
  }
}

//溢出中断回调函数
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) 
{
  if (htim == &htim1) //编码器溢出中断
  {
    if (TIM1->CNT < 32768) 
    {
        total_count += 65536;
    }
    else 
    {
        total_count -= 65536;
    }
  }
  else if(htim == &htim2)//PID控制，每1ms执行一次
  {
    static uint32_t vofa_counter = 0;//防止每次中断都被设置为0
    float current_angle = get_motor_angle();
    float target_angle = 30.0f;
    
    if(PID_State)
    {
      float output = PID_Update(&motor_pid,target_angle,current_angle);
      set_speed((int16_t)output);
    }
    
    if(vofa_counter++ >=10)
    {
      vofa_counter = 0;
      float duration = HAL_GetTick() -start_time;
      
      char buffer[64];//数组名在函数参数中会自动转化为指针
      sprintf(buffer,"%.1f,%.2f,%.2f\r\n",duration,target_angle,current_angle);
      HAL_UART_Transmit(&huart1,(uint8_t *)buffer,strlen(buffer),100);
    }
    
    if(HAL_GetTick() - start_time >1000)
    {
      PID_State = 0;
      set_speed(0);
    }
  }
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM3_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);//开启PWM
  HAL_TIM_Encoder_Start(&htim1,TIM_CHANNEL_ALL);//开启编码器
  HAL_TIM_Base_Start_IT(&htim1);//开启定时器中断
  HAL_TIM_Base_Start_IT(&htim2);
  
  HAL_Delay (2000);
  PID_Init(&motor_pid);
  start_time = HAL_GetTick();
  PID_State = 1;
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
